NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 159 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 52.40 of 575.00 AH used of 24V (90.89% remains)
• Surface angle -62.6 deg, depth 1.04 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 5 s • Transponder ping count: 2
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.54 - - - 74.48 VBD -1.25 - - 177.94 - - - 2119.69 - -77.86 67.38 0.005 2291.75 - - - - - - - - - - 15.64
74.76 3.00 -4.39 13 111.77 -1.25 13.60 0.262 1836.06 121.9 3.61 0.126 3474.19 375.2 -77.86 13.73 0.006 2816.94 38.3 -3.200 - - - - - - 15.62 15.63 15.68
334.64 58.33 -18.02 65 340.30 roll -1.25 - - 1836.38 - 3.51 0.066 2084.25 -396.0 -77.86 - - 2816.78 - - - - - - - - - 15.80 -
519.58 84.60 -14.06 102 525.37 roll -1.25 - - 1835.75 - 3.71 0.119 3473.19 374.4 -77.86 - - 2816.25 - - - - - - - - - 15.85 -
629.59 100.06 -12.67 124 634.16 roll -1.25 - - 1835.81 - 3.47 0.064 2084.50 -400.2 -77.86 - - 2817.53 - - - - - - - - - 15.87 -
939.61 131.72 -9.57 156 945.44 roll -1.25 - - 1836.00 - 4.02 0.165 662.81 -353.7 -77.86 - - 2815.69 - - - - - - - - - 15.90 -
1058.55 146.89 -13.81 180 1065.38 roll -1.25 - - 1835.81 - 3.57 0.064 2118.00 407.6 -77.86 - - 2818.19 - - - - - - - - - 15.95 -
1364.65 179.20 -10.65 211 1370.49 roll -1.25 - - 1834.56 - 4.11 0.163 664.06 -353.8 -77.86 - - 2818.69 - - - - - - - - - 15.95 -
1429.74 186.97 -12.65 224 1435.28 roll -1.25 - - 1835.50 - 3.55 0.062 2120.06 410.1 -77.86 - - 2818.69 - - - - - - - - - 15.98 -
1734.72 219.08 -11.00 255 1739.46 roll -1.25 - - 1835.75 - 3.61 0.126 3473.44 374.9 -77.86 - - 2815.81 - - - - - - - - - 16.00 -
1808.74 228.03 -11.93 270 1815.48 roll -1.25 - - 1835.56 - 3.44 0.065 2083.56 -404.0 -77.86 - - 2817.91 - - - - - - - - - 16.01 -
2114.79 261.30 -11.06 301 2116.12 no move -1.25 - - 1835.69 - - - 2083.38 - -77.86 - - 2818.31 - - - - - - - - - - -
2414.91 294.84 -10.99 331 2420.60 roll -1.25 - - 1836.00 - 3.61 0.127 3474.25 385.3 -77.86 - - 2817.28 - - - - - - - - - 16.04 -
2489.88 304.35 -12.88 346 2494.45 roll -1.25 - - 1834.56 - 3.46 0.070 2083.31 -402.0 -77.86 - - 2818.03 - - - - - - - - - 16.04 -
2799.92 336.45 -10.05 378 2801.25 no move -1.25 - - 1836.12 - - - 2082.56 - -77.86 - - 2817.59 - - - - - - - - - - -
3099.98 366.67 -10.03 408 3101.30 no move -1.25 - - 1835.88 - - - 2082.81 - -77.86 - - 2817.72 - - - - - - - - - - -
3400.01 397.01 -10.24 438 3405.86 roll -1.25 - - 1835.94 - 4.01 0.174 664.12 -353.8 -77.86 - - 2815.03 - - - - - - - - - 16.04 -
3478.96 406.91 -12.46 454 3485.82 roll -1.25 - - 1835.69 - 3.53 0.068 2119.06 412.2 -77.86 - - 2816.56 - - - - - - - - - 16.08 -
3785.10 439.21 -10.16 485 3786.43 no move -1.25 - - 1835.81 - - - 2119.31 - -77.86 - - 2816.53 - - - - - - - - - - -
4085.14 469.20 -10.26 515 4090.83 roll -1.25 - - 1836.06 - 4.10 0.173 663.12 -355.2 -77.86 - - 2816.28 - - - - - - - - - 16.06 -
4124.08 473.71 -11.27 523 4130.91 roll -1.25 - - 1835.81 - 3.54 0.069 2117.06 410.7 -77.86 - - 2815.84 - - - - - - - - - 16.09 -
4430.18 503.33 -9.73 554 4434.92 roll -1.25 - - 1835.81 - 3.60 0.135 3472.25 376.4 -77.86 - - 2815.38 - - - - - - - - - 16.08 -
4460.21 506.22 -9.75 560 4464.78 roll -1.25 - - 1834.19 - 3.47 0.072 2083.00 -400.4 -77.86 - - 2815.34 - - - - - - - - - 16.09 -
4770.22 535.11 -8.38 592 4775.91 roll -1.25 - - 1835.75 - 4.01 0.179 663.12 -354.1 -77.86 - - 2814.16 - - - - - - - - - 16.07 -
4845.48 543.15 -11.11 607 4850.85 roll -1.25 - - 1836.44 - 3.57 0.070 2115.56 406.8 -77.86 - - 2814.72 - - - - - - - - - 16.10 -
5150.28 569.79 -8.67 638 5156.03 roll -1.25 - - 1833.94 - 3.62 0.135 3472.12 374.7 -77.86 - - 2814.25 - - - - - - - - - 16.09 -
5219.14 577.02 -10.46 652 5226.02 roll -1.25 - - 1836.19 - 3.45 0.074 2085.88 -401.8 -77.86 - - 2814.31 - - - - - - - - - 16.10 -
5525.30 604.47 -9.48 683 5526.63 no move -1.25 - - 1836.25 - - - 2085.69 - -77.86 - - 2813.09 - - - - - - - - - - -
5825.32 632.52 -9.08 713 5826.65 no move -1.25 - - 1836.06 - - - 2085.75 - -77.86 - - 2811.62 - - - - - - - - - - -
6125.34 661.26 -10.08 743 6131.04 roll -1.25 - - 1835.75 - 4.07 0.183 663.25 -349.5 -77.86 - - 2810.47 - - - - - - - - - 16.07 -
6160.36 665.14 -11.10 750 6165.02 roll -1.25 - - 1836.31 - 3.52 0.071 2116.56 412.9 -77.86 - - 2809.22 - - - - - - - - - 16.11 -
6470.38 694.16 -7.88 782 6475.09 roll -1.25 - - 1835.88 - 3.46 0.140 3473.31 392.1 -77.86 - - 2812.22 - - - - - - - - - 16.10 -
6530.39 700.34 -9.93 794 6534.96 roll -1.25 - - 1836.31 - 3.43 0.075 2085.00 -404.8 -77.86 - - 2809.19 - - - - - - - - - 16.11 -
6840.40 727.79 -8.11 826 6846.11 roll -1.25 - - 1836.38 - 4.01 0.184 664.06 -354.3 -77.86 - - 2809.25 - - - - - - - - - 16.07 -
6909.47 735.11 -11.30 840 6916.17 roll -1.25 - - 1836.38 - 3.56 0.074 2115.12 407.6 -77.86 - - 2810.12 - - - - - - - - - 16.11 -
7215.44 760.52 -8.42 871 7216.77 no move -1.25 - - 1834.38 - - - 2115.38 - -77.86 - - 2810.91 - - - - - - - - - - -
7515.47 785.34 -9.27 901 7521.31 roll -1.25 - - 1836.06 - 4.16 0.183 663.75 -348.9 -77.86 - - 2808.59 - - - - - - - - - 16.08 -
7630.49 796.98 -10.74 924 7636.22 roll -1.25 - - 1835.69 - 3.57 0.076 2115.94 406.8 -77.86 - - 2810.22 - - - - - - - - - 16.11 -
7935.50 823.20 -7.44 955 7936.83 no move -1.25 - - 1835.88 - - - 2116.06 - -77.86 - - 2808.47 - - - - - - - - - - -
8235.52 847.53 -7.68 985 8241.29 roll -1.25 - - 1835.94 - 3.64 0.143 3472.12 372.5 -77.86 - - 2808.22 - - - - - - - - - 16.10 -
8290.54 852.10 -8.98 996 8296.13 roll -1.25 - - 1836.31 - 3.47 0.079 2086.31 -399.4 -77.86 - - 2806.50 - - - - - - - - - 16.12 -
8595.55 875.65 -7.97 1027 8601.41 roll -1.25 - - 1836.38 - 4.08 0.191 664.25 -348.5 -77.86 - - 2806.66 - - - - - - - - - 16.07 -
8680.56 883.60 -9.18 1044 8686.17 roll -1.25 - - 1836.19 - 3.59 0.077 2114.69 404.0 -77.86 - - 2807.12 - - - - - - - - - 16.11 -
8985.59 906.30 -6.64 1075 8991.29 roll -1.25 - - 1836.38 - 3.64 0.142 3474.12 373.5 -77.86 - - 2807.78 - - - - - - - - - 16.10 -
9060.62 913.26 -8.64 1090 9066.19 roll -1.25 - - 1836.00 - 3.46 0.079 2086.25 -401.1 -77.86 - - 2807.09 - - - - - - - - - 16.12 -
9365.63 934.89 -7.10 1121 9371.32 roll -1.25 - - 1834.75 - 4.07 0.191 665.12 -349.2 -77.86 - - 2807.59 - - - - - - - - - 16.07 -
9460.64 942.45 -8.11 1140 9466.25 roll -1.25 - - 1834.38 - 3.58 0.080 2115.44 405.1 -77.86 - - 2807.62 - - - - - - - - - 16.11 -
9765.66 963.60 -6.86 1171 9771.50 roll -1.25 - - 1835.25 - 4.17 0.190 663.12 -348.3 -77.86 - - 2806.91 - - - - - - - - - 16.07 -
9850.69 970.65 -8.95 1188 9856.31 roll -1.25 - - 1835.69 - 3.64 0.082 2114.25 398.7 -77.86 - - 2807.59 - - - - - - - - - 16.11 -
10116 end dive: TARGET_DEPTH_EXCEEDED
10116 begin apogee
10116.96 990.49 -8.30 1215 10183.48 -0.25 1.74 0.158 2080.62 140.8 0.07 0.332 2185.62 1019.6 - 63.69 2.316 2498.94 -4.8 0.347 - - - - - - 16.06 15.59 13.16
10185 end apogee: CONTROL_FINISHED_OK
10185 begin climb
10184.87 992.35 - 1221 10265.86 1.25 2.50 0.101 2447.62 146.8 4.30 0.165 738.00 -336.7 77.86 71.60 2.257 2179.72 -4.5 0.328 - - - - - - 15.62 15.21 12.89
10307.44 982.36 9.38 1245 10314.39 roll 1.25 - - 2447.31 - 3.76 0.069 2214.31 392.6 77.86 - - 2174.41 - - - - - - - - - 15.42 -
10613.65 951.51 10.89 1276 10614.98 VBD 1.25 - - 2447.62 - - - 2214.62 - 77.86 - - 2168.34 - - - - - - - - - - -
10913.67 921.05 10.51 1306 10919.57 done 1.25 - - 2447.19 - 4.20 0.164 736.12 -352.0 77.86 - - 2166.44 - - - - - - - - - 15.79 -
10932.53 919.01 10.39 1310 10939.59 done 1.25 - - 2447.50 - 3.65 0.069 2215.31 405.3 77.86 - - 2165.34 - - - - - - - - - 15.82 -
11238.74 891.73 7.76 1341 11240.07 VBD 1.25 - - 2448.00 - - - 2215.88 - 77.86 - - 2162.81 - - - - - - - - - - -
11538.78 866.29 8.38 1371 11543.37 done 1.25 - - 2447.62 - 3.45 0.140 3472.31 364.2 77.86 - - 2164.38 - - - - - - - - - 15.90 -
11578.81 862.61 9.19 1379 11583.36 done 1.25 - - 2447.94 - 3.26 0.071 2184.69 -395.0 77.86 - - 2163.94 - - - - - - - - - 15.92 -
11888.86 835.06 9.26 1411 11894.70 done 1.25 - - 2447.38 - 4.08 0.163 736.31 -355.0 77.86 - - 2160.66 - - - - - - - - - 15.94 -
11923.88 831.71 9.57 1418 11929.64 done 1.25 - - 2446.88 - 3.62 0.069 2214.94 408.5 77.86 - - 2161.22 - - - - - - - - - 15.96 -
12228.92 805.83 8.85 1449 12230.26 VBD 1.25 - - 2448.00 - - - 2214.56 - 77.86 - - 2160.50 - - - - - - - - - - -
12528.96 780.66 7.56 1479 12533.57 done 1.25 - - 2447.38 - 3.44 0.141 3472.56 365.7 77.86 - - 2161.16 - - - - - - - - - 15.98 -
12568.99 776.82 8.70 1487 12573.64 done 1.25 - - 2447.44 - 3.19 0.070 2182.50 -404.4 77.86 - - 2162.66 - - - - - - - - - 16.01 -
12879.04 745.43 8.81 1519 12884.87 done 1.25 - - 2447.81 - 4.03 0.160 736.19 -358.9 77.86 - - 2158.69 - - - - - - - - - 16.00 -
12904.05 742.75 10.10 1524 12909.80 done 1.25 - - 2447.31 - 3.61 0.068 2217.00 410.2 77.86 - - 2161.00 - - - - - - - - - 16.02 -
13209.09 713.37 8.68 1555 13213.67 done 1.25 - - 2448.00 - 3.46 0.140 3471.06 362.4 77.86 - - 2160.75 - - - - - - - - - 16.02 -
13239.11 710.86 8.96 1561 13243.63 done 1.25 - - 2446.69 - 3.19 0.067 2183.00 -403.8 77.86 - - 2161.47 - - - - - - - - - 16.02 -
13549.17 687.15 6.86 1593 13554.98 done 1.29 - - 2447.00 - 4.03 0.158 737.88 -358.6 77.86 - - 2158.62 - - - - - - - - - 16.01 -
13584.19 684.50 7.51 1600 13589.77 done 1.30 - - 2447.31 - 3.58 0.065 2218.00 413.4 77.86 - - 2157.66 - - - - - - - - - 16.04 -
13889.28 665.67 6.09 1631 13890.61 VBD 1.36 - - 2447.69 - - - 2217.56 - 77.86 - - 2157.94 - - - - - - - - - - -
14189.24 648.86 5.36 1661 14226.57 1.48 0.31 0.087 2507.69 193.5 3.49 0.140 3471.62 359.3 116.20 32.12 1.873 2023.59 -4.2 0.242 - - - - - - 16.05 15.80 13.16
14388.33 629.68 11.13 1701 14395.12 roll 1.48 - - 2507.88 - 3.25 0.071 2185.38 -395.8 116.20 - - 2020.91 - - - - - - - - - 15.89 -
14694.45 600.94 9.78 1732 14700.05 roll 1.48 - - 2508.38 - 3.53 0.136 3473.25 364.8 116.20 - - 2017.44 - - - - - - - - - 15.93 -
14763.32 593.41 10.37 1746 14770.16 roll 1.48 - - 2507.75 - 3.21 0.068 2184.25 -401.6 116.20 - - 2019.12 - - - - - - - - - 15.95 -
15069.50 563.19 9.55 1777 15075.10 done 1.48 - - 2507.19 - 3.51 0.135 3471.75 366.8 116.20 - - 2017.34 - - - - - - - - - 15.97 -
15114.51 558.29 10.43 1786 15119.17 done 1.48 - - 2508.06 - 3.19 0.067 2182.31 -404.2 116.20 - - 2017.91 - - - - - - - - - 15.98 -
15424.55 526.35 10.53 1818 15430.38 done 1.48 - - 2507.56 - 4.02 0.155 737.44 -359.4 116.20 - - 2017.53 - - - - - - - - - 15.98 -
15459.57 522.10 12.47 1825 15464.29 done 1.48 - - 2507.50 - 3.59 0.066 2215.56 411.7 116.20 - - 2016.88 - - - - - - - - - 16.01 -
15769.59 490.84 9.48 1857 15774.14 done 1.48 - - 2508.31 - 3.38 0.135 3472.25 371.8 116.20 - - 2016.09 - - - - - - - - - 15.98 -
15799.59 487.68 9.36 1863 15804.12 done 1.48 - - 2508.12 - 3.19 0.065 2182.38 -404.3 116.20 - - 2016.19 - - - - - - - - - 16.00 -
16109.62 457.08 9.60 1895 16115.20 done 1.48 - - 2507.62 - 3.49 0.134 3473.75 370.0 116.20 - - 2014.34 - - - - - - - - - 16.02 -
16174.64 450.47 10.23 1908 16179.16 done 1.48 - - 2507.88 - 3.19 0.066 2183.38 -404.5 116.20 - - 2016.81 - - - - - - - - - 16.02 -
16484.67 419.50 9.71 1940 16490.48 done 1.48 - - 2507.56 - 3.95 0.152 735.75 -366.5 116.20 - - 2016.38 - - - - - - - - - 15.97 -
16593.67 407.02 11.41 1962 16600.60 done 1.48 - - 2507.69 - 3.60 0.064 2219.12 412.0 116.20 - - 2015.16 - - - - - - - - - 16.03 -
16899.77 380.50 8.85 1993 16904.35 done 1.48 - - 2507.69 - 3.41 0.133 3473.50 367.9 116.20 - - 2015.28 - - - - - - - - - 16.03 -
16983.65 372.23 10.68 2010 16990.48 done 1.48 - - 2507.75 - 3.16 0.064 2181.81 -408.8 116.20 - - 2015.72 - - - - - - - - - 16.03 -
17289.85 346.48 7.94 2041 17295.67 done 1.48 - - 2505.56 - 3.97 0.149 736.94 -363.9 116.20 - - 2015.41 - - - - - - - - - 16.03 -
17338.81 341.99 9.57 2051 17345.64 done 1.48 - - 2508.00 - 3.62 0.064 2218.56 409.3 116.20 - - 2014.59 - - - - - - - - - 16.04 -
17644.93 317.87 8.19 2082 17649.50 done 1.48 - - 2508.62 - 3.40 0.131 3474.06 369.3 116.20 - - 2015.03 - - - - - - - - - 16.04 -
17764.97 306.87 9.76 2106 17769.50 done 1.48 - - 2508.62 - 3.17 0.063 2180.88 -407.9 116.20 - - 2014.69 - - - - - - - - - 16.04 -
18075.06 282.09 7.79 2138 18076.39 VBD 1.48 - - 2508.94 - - - 2181.19 - 116.20 - - 2015.44 - - - - - - - - - - -
18375.08 260.29 8.25 2168 18380.90 done 1.48 - - 2508.94 - 3.96 0.147 736.25 -364.9 116.20 - - 2013.97 - - - - - - - - - 16.01 -
18474.03 251.32 9.17 2188 18480.87 done 1.48 - - 2508.81 - 3.56 0.064 2220.06 416.8 116.20 - - 2014.25 - - - - - - - - - 16.06 -
18780.19 228.34 7.32 2219 18784.73 done 1.50 - - 2509.19 - 3.37 0.128 3475.38 372.5 116.20 - - 2014.47 - - - - - - - - - 16.05 -
18840.20 223.37 8.20 2231 18844.72 done 1.50 - - 2508.19 - 3.14 0.062 2178.94 -412.9 116.20 - - 2015.12 - - - - - - - - - 16.05 -
19150.24 199.57 6.90 2263 19156.04 done 1.53 - - 2508.12 - 3.92 0.145 736.06 -368.1 116.20 - - 2013.81 - - - - - - - - - 16.04 -
19179.16 197.02 8.23 2269 19185.99 done 1.53 - - 2509.06 - 3.53 0.059 2221.50 420.8 116.20 - - 2015.62 - - - - - - - - - 16.06 -
19485.27 173.33 7.76 2300 19489.82 done 1.53 - - 2509.25 - 3.34 0.126 3472.69 374.6 116.20 - - 2015.09 - - - - - - - - - 16.03 -
19555.32 167.05 9.01 2314 19559.96 done 1.53 - - 2508.56 - 3.15 0.059 2178.88 -410.7 116.20 - - 2014.25 - - - - - - - - - 16.05 -
19865.34 145.66 6.51 2346 19871.00 done 1.58 - - 2508.69 - 3.91 0.143 735.44 -369.2 116.20 - - 2013.34 - - - - - - - - - 16.04 -
20074.31 132.27 6.78 2388 20081.12 done 1.62 - - 2508.75 - 3.60 0.061 2220.62 412.5 116.20 - - 2014.09 - - - - - - - - - 16.06 -
20380.46 120.07 3.04 2419 20443.44 1.83 0.48 0.078 2592.44 174.4 3.39 0.127 3471.88 369.1 187.77 57.28 1.283 1731.09 -4.9 0.077 - - - - - - 16.05 15.77 13.04
20667.54 89.67 12.18 2476 20671.99 roll 1.83 - - 2592.94 - 3.21 0.060 2182.31 -401.7 187.77 - - 1727.38 - - - - - - - - - 15.88 -
20851.33 73.92 7.94 2513 20852.67 VBD 1.83 - - 2592.00 - - - 2182.56 - 187.77 - - 1723.72 - - - - - - - - - - -
21031.37 61.25 6.75 2549 21037.18 done 1.87 - - 2593.19 - 3.97 0.142 736.50 -364.2 187.77 - - 1723.88 - - - - - - - - - 15.91 -
21261.62 50.71 3.01 2595 21324.40 2.09 0.34 0.077 2656.25 185.5 3.57 0.058 2224.50 416.8 259.66 56.97 1.174 1441.03 -5.0 0.036 - - - - - - 15.92 15.95 13.07
21502.19 37.90 5.02 2643 21543.61 done 2.22 - - 2656.00 - 3.41 0.126 3473.69 366.3 302.89 34.99 1.105 1264.19 -5.1 0.029 - - - - - - - 15.63 12.92
21547.84 35.46 5.07 2652 21588.67 2.35 0.34 0.084 2715.88 176.1 3.16 0.057 2178.25 -409.9 345.49 35.39 1.080 1091.25 -4.9 0.027 - - - - - - 15.67 15.68 12.89
21767.22 11.63 13.39 2696 21773.04 roll 2.35 - - 2716.50 - 3.97 0.140 735.25 -363.5 345.49 - - 1085.88 - - - - - - - - - 15.68 -
21822.24 3.04 16.07 2707 21828.00 roll 2.35 - - 2715.88 - 3.61 0.056 2221.38 411.7 345.49 - - 1085.44 - - - - - - - - - 15.72 -
21833 end climb: SURFACE_DEPTH_REACHED
21833 begin surface coast
21843 end surface coast: CONTROL_FINISHED_OK
21843 begin surface
SM 0.50 - - - - 177.9 0.73 0.148 768.5 1052.7 16.62 0.093 769.4 46.3 - 0.33 0.088 767.6 2315.1 -1.344 - - 15.51 15.69 15.74 -